XPeng（小鹏汽车）

Physical world knowledge resides mainly in videos. Equipping Vision-Language-Action (VLA) models with such knowledge is fundamental for safe and generalizable planning. Predictive world modeling enables VLA to internalize physical dynamics and long-term causality by predicting future video from past observations. However, naive next-frame prediction faces two challenges: 1) unlike semantically distinct text tokens, video tokens are low-entropy and redundant, causing prediction to degenerate into trivial extrapolation. 2) world modeling poses a temporal dilemma: dense prediction captures instantaneous dynamics, but cannot efficiently model long-horizon causality. To learn world knowledge effectively, we introduce X-Foresight, a predictive world model integrated directly into the VLA architecture to jointly learn world modeling and real-time action control. At its core lies a long-horizon chunk-wise auto-regressive strategy that addresses both challenges: by predicting semantically distant chunks rather than adjacent frames, it escapes trivial extrapolation, while preserving dense intra-chunk frames for instantaneous dynamics and sparse inter-chunk transitions for long-term causality. A curriculum learning schedule progressively extends prediction horizons and stabilizes long-horizon training. To capture long-term causality effectively, we present temporal importance sampling, which concentrates supervision on safety-critical chunks identified by ego-motion and behavioral signals. We further delegate photorealistic synthesis to a diffusion-based multi-view renderer, improving photorealistic appearance. Comprehensive experiments demonstrate that X-Foresight significantly outperforms VLA baselines in planning performance while maintaining strong generative fidelity, establishing a robust paradigm for world-knowledge-driven autonomous systems.

Large-scale humanoid motion-tracking controllers are commonly improved by reallocating training effort: difficult motions are sampled more often, isolated into smaller subsets, or assigned to specialized experts. We show that this view is incomplete. In strong whole-body-control baselines, a residual set of feasible training clips remains unsolved even under targeted training, especially for high-dynamic transitions and balance-critical motions. These failures arise not only from insufficient exposure, but from a mismatch between the motion demands and the effective capability induced by the default training recipe. We propose Athena-WBC, a compact teacher-student pipeline with capability-aligned policy experts for long-tail humanoid whole-body control. Dynamic experts use a tracking-focused, constraint-aware objective that removes conservative effort and temporal-control penalties while preserving physical feasibility constraints; balance experts use a gravity curriculum to improve early-training survivability. The resulting privileged teachers are motion-routed for DAgger distillation and then compressed into a single controller with deployable observations followed by RL fine-tuning. Experiments on a full-size humanoid show improved recovery of training-set long-tail motions and better held-out tracking than a strong SONIC-recipe baseline, using only a small number of experts.

End-to-end autonomous driving increasingly leverages self-supervised video pretraining to learn transferable planning representations. However, pretraining video world models for scene understanding has so far brought only limited improvements. This limitation is compounded by the inherent ambiguity of driving: each scene typically provides only a single human trajectory, making it difficult to learn multimodal behaviors. In this work, we propose Drive-JEPA, a framework that integrates Video Joint-Embedding Predictive Architecture (V-JEPA) with multimodal trajectory distillation for end-to-end driving. First, we adapt V-JEPA for end-to-end driving, pretraining a ViT encoder on large-scale driving videos to produce predictive representations aligned with trajectory planning. Second, we introduce a proposal-centric planner that distills diverse simulator-generated trajectories alongside human trajectories, with a momentum-aware selection mechanism to promote stable and safe behavior. When evaluated on NAVSIM, the V-JEPA representation combined with a simple transformer-based decoder outperforms prior methods by 3 PDMS in the perception-free setting. The complete Drive-JEPA framework achieves 93.3 PDMS on v1 and 87.8 EPDMS on v2, setting a new state-of-the-art.

Reinforcement Learning (RL) is an important paradigm for improving the reasoning capabilities of Vision-Language Models (VLMs). However, directly applying RL to rollout multimodal reasoning can lead to instability, due to the exploitation of language priors, the neglect of visual evidence, and the generation of reasoning traces that are fluent yet not visually grounded. The question arises: Can initially steer the policy toward visually faithful reasoning regime before applying reinforcement learning? To this end, we propose a Faithful Warm-Start (FWS) strategy that first curates samples with explicit vision-language causal relationships from six general VQA benchmarks to construct the FaithfulQA dataset, where each of the image-question pairs gains a certain degree of visual observations, question requirements, commonsense knowledge, domain knowledge, and the final answer. Subsequently, a VLM-based judge is employed to further purify the dataset, ensuring strong causal consistency and visual faithfulness. This warm-start stage equips the model with the capability to understand causally grounded vision-language patterns before subsequent RL optimization under sparse answer-level rewards. Experimental results show that such faithful supervision improves answer accuracy, stabilizes RL training, and reduces visually unsupported reasoning.

Predicting future states is essential for autonomous agents, yet current Vision-Language-Action (VLA) models fundamentally lack this capability, relying instead on reactive perception-action mapping. While integrating Predictive World Models (PWMs) addresses this gap, existing approaches either incur prohibitive cascaded latency or act as shallow terminal tasks that fail to deeply embed forward-looking reasoning. To endow VLA models with this reasoning capability, we propose X-Mind. Rather than treating PWMs as an external auxiliary module, this framework internalizes them as the Visual Chain-of-Thought (Visual CoT). By enforcing a world rollout prior to action, the model is constrained to imagine future evolution first, yielding a driving policy that is robustly grounded in environmental dynamics and aware of the future consequences its actions will unfold. The challenge here is efficiency, and we tackle it on two fronts. First, we introduce a compact representation of visual thinking: an abstract sketch that fuses a Bird's-Eye-View (BEV) layout with abstract driving priors (e.g., navigation intents and traffic rules). Rather than rolling out dense future frames, the model reasons over this sketch as a mental canvas; aided by a Deep Compression Autoencoder (DC-AE), a 12-frame future rollout is reduced to merely 96 tokens, alleviating the long-context computational bottleneck. Second, to accelerate generation further, we propose a recurrent block diffusion scheme that unrolls the denoising steps across the layers of the large drive model, folding iterative refinement into the backbone's one forward pass. Trained and validated on large-scale real-world data, X-Mind achieves competitive end-to-end driving performance, which makes it a highly practical, low-latency solution that successfully deploys large-scale cognitive reasoning directly onto resource-constrained vehicle platforms.

Modern VLMs and VLA systems commonly adopt off-the-shelf ViTs such as SigLIP2 as visual encoders, but diverse downstream requirements in latency, temporal modeling, and VLM integration often call for customized SOTA-level ViTs. Training such encoders remains beyond the reach of much of the community, as it requires massive image-text data, while standard softmax attention makes high-resolution or dynamic-resolution pretraining prohibitively costly and often forces low-resolution pretraining followed by post-hoc adaptation. TuringViT addresses these challenges with three key designs: Turing Linear Attention (TLA) for efficient sequence modeling, VISTA-Curation to construct supervision-rich image-video training data, and native dynamic-resolution pretraining that supports flexible inputs from the start and transfers seamlessly to downstream VLMs. As a result, TuringViT outperforms leading open-source ViT baselines with only 10% of the data, achieves stronger downstream VLM performance, and delivers substantially better latency scaling on high-resolution inputs. Our scaling-law analysis further shows that TuringViT continues to improve predictably with curated data scale, far from saturation. Its fast adaptation, hardware-friendly design, and efficient deployment have made it a unified visual foundation across XPeng's AI systems. More broadly, TuringViT provides a reproducible pipeline that dramatically lowers the cost for the community to train, customize, and deploy SOTA-level ViTs, moving toward making such Vision Transformers accessible to all.

3D Gaussian Splatting (3DGS) has emerged as a promising technique for novel view synthesis. However, 3DGS requires dense input views to achieve high-quality rendering. In sparse-view scenarios, 3DGS often prones to overfitting, resulting in noticeable artifacts and degraded rendering quality. Previous methods explore to address this issue by introducing additional priors (e.g. depth priors) or integrating regularization techniques (e.g. Dropout). However, these methods are often applied without principled guidance. In particular, prior-based augmentation typically samples novel viewpoints randomly, while Dropout-based regularization randomly removes Gaussians. The compounded randomness introduces uncertainty and instability, limiting the fidelity of novel view synthesis. In this paper, we propose a novel method for sparse-view 3DGS that incorporates Fisher Information to quantitatively guide the utilization of geometric priors and regularization. Specifically, our method comprises two key components: (1) Stereo augmentation with Fisher Information. By leveraging Fisher Information, we actively select most informative supporting views and use depth priors to curate reliable pseudo ground truths, which reduces randomness in augmentation and improves stability and rendering fidelity; (2) Uncertainty-aware regularization. We reduce the instability of Dropout-based regularization by using Fisher Information to quantitatively measure the uncertainty of each 3D Gaussian, and adaptively adjust the removal probability, leading to more stable and effective regularization. With these two components, our method effectively mitigates overfitting and improves the stability of optimization in sparse-view 3DGS, resulting in superior rendering fidelity. Extensive experiments show that our method achieves state-of-the-art performance in sparse-view novel view synthesis benchmarks.

Human interventions provide crucial corrective signals for post-training Vision-Language-Action (VLA) models. However, enabling seamless humanoid interventions is a formidable systems challenge due to complex whole-body kinematics and dexterous-hand control. Consequently, the collected intervention trajectories are often suboptimal, and methods that rely on human interventions as expert supervision can absorb hesitant, inefficient, or even erroneous behaviors. To address both the system and algorithmic challenges, we propose ROVE, a reinforcement learning framework for humanoid VLA post-training with imperfect human interventions. First, ROVE introduces a human-in-the-loop pipeline capable of collecting deployment and intervention data for humanoid manipulation. Second, it utilizes Optimistic Value Estimation (OVE) to prioritize high-value behaviors from mixed-quality trajectories. To further robustify value estimation, we incorporate cross-embodiment human experience videos to provide rich supervision for long-tailed failure and recovery modes. The resulting critic yields informative advantage signals, steering the VLA actor to focus on high-value behaviors rather than indiscriminately imitating all actions. On challenging real-world contact-rich and fine-grained humanoid manipulation tasks, ROVE outperforms experience-learning baselines and consistently improves across multiple rollout-intervention iterations.

World Action Models (WAMs) offer a promising route for robot manipulation by using video generation models to model future scene evolution before producing control actions. However, our empirical observations reveal a phenomenon: generating plausible visual futures does not always guarantee the extraction of accurate actions. To diagnose this failure, we conduct action-head attention analysis and causal interventions. We find that the action decoder fails to focus on task-relevant interaction regions and remains sensitive to perturbations in task-irrelevant areas. This reveals a representation mismatch: hidden states optimized for visual reconstruction are not inherently organized in a form useful for low-level action control. In this paper, we propose AGRA, an Action-Grounded Representation Alignment objective that regularizes the world-action interface by aligning intermediate video diffusion features with spatially coherent semantic representations from a foundation visual encoder. We evaluate AGRA on real-world manipulation tasks. Experiments show that AGRA makes world model representations more action-grounded: by focusing the action decoder on the correct interaction regions, it improves object localization accuracy and affordance understanding, and makes the policy more robust to perturbations in task-irrelevant regions. As a result, AGRA consistently improves both in-distribution performance and out-of-distribution generalization over the baseline world action model.

Current benchmarks for graphical user interface (GUI) agents predominantly rely on static screenshots. However, real-world smartphone interaction routinely requires agents to process transient audio cues and temporal video dynamics that are tightly coupled with the moment of action. To bridge this gap, we introduce OmniGUI, the first step-level benchmark designed to evaluate GUI agents in omni-modal smartphone environments. OmniGUI provides continuous, interleaved multimodal inputs comprising static images, synchronous audio, and video clips at every action step. The dataset encompasses 709 expert-demonstrated episodes (2,579 action steps) across 29 applications, systematically annotated with objective multimodal dependency levels. Because dedicated omni-modal GUI agent frameworks are currently in their nascent stage, we select foundational omni-modal models capable of natively processing interleaved inputs to serve as agent proxies for our initial baselines. Our empirical evaluation reveals that while current models exhibit competency on visually static tasks, their action prediction performance degrades significantly in environments requiring synchronous temporal and auditory signals. Furthermore, ablation studies isolate specific operational bottlenecks, notably cross-modal interference when processing task-irrelevant environmental noise. The complete dataset, evaluation pipeline, and baseline prompts are provided in the supplementary material. Project page: https://omni-gui.github.io.

Recent advancements in Large Vision-Language Models (VLMs) have demonstrated exceptional semantic understanding, yet these models consistently struggle with spatial reasoning, often failing at fundamental geometric tasks such as depth ordering and precise coordinate grounding. Recent efforts introduce spatial supervision from scene-centric datasets (e.g., multi-view scans or indoor video), but are constrained by the limited number of underlying scenes. As a result, the scale and diversity of such data remain significantly smaller than those of web-scale 2D image collections. To address this limitation, we propose SpatialForge, a scalable data synthesis pipeline that transforms in-the-wild 2D images into spatial reasoning supervision. Our approach decomposes spatial reasoning into perception and relation, and constructs structured supervision signals covering depth, layout, and viewpoint-dependent reasoning, with automatic verification to ensure data quality. Based on this pipeline, we build SpatialForge-10M, a large-scale dataset containing 10 million spatial QA pairs. Extensive experiments across multiple spatial reasoning benchmarks demonstrate that training on SpatialForge-10M significantly improves the spatial reasoning ability of standard VLMs, highlighting the effectiveness of scaling 2D data for 3D-aware spatial reasoning.

Vision-Language-Action models have shown great promise for autonomous driving, yet they suffer from degraded perception after unfreezing the visual encoder and struggle with accumulated instability in long-term planning. To address these challenges, we propose EvoDriveVLA-a novel collaborative perception-planning distillation framework that integrates self-anchored perceptual constraints and future-informed trajectory optimization. Specifically, self-anchored visual distillation leverages self-anchor teacher to deliver visual anchoring constraints, regularizing student representations via trajectory-guided key-region awareness. In parallel, future-informed trajectory distillation employs a future-aware oracle teacher with coarse-to-fine trajectory refinement and Monte Carlo dropout sampling to synthesize reasoning trajectories that model future evolutions, enabling the student model to internalize the future-aware insights of the teacher. EvoDriveVLA achieves SOTA performance in nuScenes open-loop evaluation and significantly enhances performance in NAVSIM closed-loop evaluation. Our code is available at: https://github.com/hey-cjj/EvoDriveVLA.

In the past year, video-based large language models (Video LLMs) have achieved impressive progress, particularly in their ability to process long videos through extremely extended context lengths. However, this comes at the cost of significantly increased computational overhead due to the massive number of visual tokens, making efficiency a major bottleneck. In this paper, we identify the root of this inefficiency as the high redundancy in video content. To address this, we propose a novel pooling strategy that enables aggressive token compression while retaining instruction-relevant visual semantics. Our model, Prompt-guided Pooling LLaVA (PPLLaVA), introduces three key components: a CLIP-based visual-prompt alignment module that identifies regions of interest based on user instructions, a prompt-guided pooling mechanism that adaptively compresses the visual sequence using convolution-style pooling, and a clip context extension module tailored for processing long and complex prompts in visual dialogues. With up to 18x token reduction, PPLLaVA maintains strong performance across tasks, achieving state-of-the-art results on diverse video understanding benchmarks-ranging from image-to-video tasks such as captioning and QA to long-form video reasoning-while significantly improving inference throughput. Codes have been available at https://github.com/farewellthree/PPLLaVA.

The development of Vision-Language-Action (VLA) models has been significantly accelerated by pre-trained Vision-Language Models (VLMs). However, most existing end-to-end VLAs treat the VLM primarily as a multimodal encoder, directly mapping vision-language features to low-level actions. This paradigm underutilizes the VLM's potential in high-level decision making and introduces training instability, frequently degrading its rich semantic representations. To address these limitations, we introduce DIAL, a framework bridging high-level decision making and low-level motor execution through a differentiable latent intent bottleneck. Specifically, a VLM-based System-2 performs latent world modeling by synthesizing latent visual foresight within the VLM's native feature space; this foresight explicitly encodes intent and serves as the structural bottleneck. A lightweight System-1 policy then decodes this predicted intent together with the current observation into precise robot actions via latent inverse dynamics. To ensure optimization stability, we employ a two-stage training paradigm: a decoupled warmup phase where System-2 learns to predict latent futures while System-1 learns motor control under ground-truth future guidance within a unified feature space, followed by seamless end-to-end joint optimization. This enables action-aware gradients to refine the VLM backbone in a controlled manner, preserving pre-trained knowledge. Extensive experiments on the RoboCasa GR1 Tabletop benchmark show that DIAL establishes a new state-of-the-art, achieving superior performance with 10x fewer demonstrations than prior methods. Furthermore, by leveraging heterogeneous human demonstrations, DIAL learns physically grounded manipulation priors and exhibits robust zero-shot generalization to unseen objects and novel configurations during real-world deployment on a humanoid robot.

Real-time world simulation is becoming a key infrastructure for scalable evaluation and online reinforcement learning of autonomous driving systems. Recent driving world models built on autoregressive video diffusion achieve high-fidelity, controllable multi-camera generation, but their inference cost remains a bottleneck for interactive deployment. However, existing diffusion caching methods are designed for offline video generation with multiple denoising steps, and do not transfer to this scenario. Few-step distilled models have no inter-step redundancy left for these methods to reuse, and sequence-level parallelization techniques require future conditioning that closed-loop interactive generation does not provide. We present X-Cache, a training-free acceleration method that caches along a different axis: across consecutive generation chunks rather than across denoising steps. X-Cache maintains per-block residual caches that persist across chunks, and applies a dual-metric gating mechanism over a structure- and action-aware block-input fingerprint to independently decide whether each block should recompute or reuse its cached residual. To prevent approximation errors from permanently contaminating the autoregressive KV cache, X-Cache identifies KV update chunks (the forward passes that write clean keys and values into the persistent cache) and unconditionally forces full computation on these chunks, cutting off error propagation. We implement X-Cache on X-world, a production multi-camera action-conditioned driving world model built on multi-block causal DiT with few-step denoising and rolling KV cache. X-Cache achieves 71% block skip rate with 2.6x wall-clock speedup while maintaining minimum degradation.

Scaling humanoid foundation models is bottlenecked by the scarcity of robotic data. While massive egocentric human data offers a scalable alternative, bridging the cross-embodiment chasm remains a fundamental challenge due to kinematic mismatches. We introduce UniT (Unified Latent Action Tokenizer via Visual Anchoring), a framework that establishes a unified physical language for human-to-humanoid transfer. Grounded in the philosophy that heterogeneous kinematics share universal visual consequences, UniT employs a tri-branch cross-reconstruction mechanism: actions predict vision to anchor kinematics to physical outcomes, while vision reconstructs actions to filter out irrelevant visual confounders. Concurrently, a fusion branch synergies these purified modalities into a shared discrete latent space of embodiment-agnostic physical intents. We validate UniT across two paradigms: 1) Policy Learning (VLA-UniT): By predicting these unified tokens, it effectively leverages diverse human data to achieve state-of-the-art data efficiency and robust out-of-distribution (OOD) generalization on both humanoid simulation benchmark and real-world deployments, notably demonstrating zero-shot task transfer. 2) World Modeling (WM-UniT): By aligning cross-embodiment dynamics via unified tokens as conditions, it realizes direct human-to-humanoid action transfer. This alignment ensures that human data seamlessly translates into enhanced action controllability for humanoid video generation. Ultimately, by inducing a highly aligned cross-embodiment representation (empirically verified by t-SNE visualizations revealing the convergence of human and humanoid features into a shared manifold), UniT offers a scalable path to distill vast human knowledge into general-purpose humanoid capabilities.

Finite Scalar Quantization (FSQ) offers simplified training but suffers from residual magnitude decay in multi-stage settings, where subsequent stages receive exponentially weaker signals. We propose Robust Residual Finite Scalar Quantization (RFSQ), addressing this fundamental limitation through two novel conditioning strategies: learnable scaling factors and invertible layer normalization. Our experiments across audio and image modalities demonstrate RFSQ's effectiveness and generalizability. In audio reconstruction at 24 bits/frame, RFSQ-LayerNorm achieves 3.646 DNSMOS, a 3.6% improvement over state-of-the-art RVQ (3.518). On ImageNet, RFSQ achieves 0.102 L1 loss and 0.100 perceptual loss, with LayerNorm providing 9.7% L1 improvement and 17.4% perceptual improvement over unconditioned variants. The LayerNorm strategy consistently outperforms alternatives by maintaining normalized input statistics across stages, effectively preventing exponential magnitude decay that limits naive residual approaches. RFSQ combines FSQ's simplicity with multi-stage quantization's representational power, establishing a new standard for neural compression across diverse modalities.

Self-supervised speech models learn representations that capture both content and speaker information. Yet this entanglement creates problems: content tasks suffer from speaker bias, and privacy concerns arise when speaker identity leaks through supposedly anonymized representations. We present two contributions to address these challenges. First, we develop InterpTRQE-SptME (Timbre Residual Quantitative Evaluation Benchmark of Speech pre-training Models Encoding via Interpretability), a benchmark that directly measures residual speaker information in content embeddings using SHAP-based interpretability analysis. Unlike existing indirect metrics, our approach quantifies the exact proportion of speaker information remaining after disentanglement. Second, we propose InterpTF-SptME, which uses these interpretability insights to filter speaker information from embeddings. Testing on VCTK with seven models including HuBERT, WavLM, and ContentVec, we find that SHAP Noise filtering reduces speaker residuals from 18.05% to nearly zero while maintaining recognition accuracy (CTC loss increase under 1%). The method is model-agnostic and requires no retraining.

Scalable and reliable evaluation is increasingly critical in the end-to-end era of autonomous driving, where vision--language--action (VLA) policies directly map raw sensor streams to driving actions. Yet, current evaluation pipelines still rely heavily on real-world road testing, which is costly, biased toward limited scenario coverage, and difficult to reproduce. These challenges motivate a real-world simulator that can generate realistic future observations under proposed actions, while remaining controllable and stable over long horizons. We present X-World, an action-conditioned multi-camera generative world model that simulates future observations directly in video space. Given synchronized multi-view camera history and a future action sequence, X-World generates future multi-camera video streams that follow the commanded actions. To ensure reproducible and editable scene rollouts, X-World further supports optional controls over dynamic traffic agents and static road elements, and retains a text-prompt interface for appearance-level control (e.g., weather and time of day). Beyond world simulation, X-World also enables video style transfer by conditioning on appearance prompts while preserving the underlying action and scene dynamics. At the core of X-World is a multi-view latent video generator designed to explicitly encourage cross-view geometric consistency and temporal coherence under diverse control signals. Experiments show that X-World achieves high-quality multi-view video generation with (i) strong view consistency across cameras, (ii) stable temporal dynamics over long rollouts, and (iii) high controllability with strict action following and faithful adherence to optional scene controls. These properties make X-World a practical foundation for scalable and reproducible evaluation.

Synthesis of diverse driving scenes serves as a crucial data augmentation technique for validating the robustness and generalizability of autonomous driving systems. Current methods aggregate high-definition (HD) maps and 3D bounding boxes as geometric conditions in diffusion models for conditional scene generation. However, implicit inter-condition dependency causes generation failures when control conditions change independently. Additionally, these methods suffer from insufficient details in both semantic and structural aspects. Specifically, brief and view-invariant captions restrict semantic contexts, resulting in weak background modeling. Meanwhile, the standard denoising loss with uniform spatial weighting neglects foreground structural details, causing visual distortions and blurriness. To address these challenges, we propose DrivePTS, which incorporates three key innovations. Firstly, our framework adopts a progressive learning strategy to mitigate inter-dependency between geometric conditions, reinforced by an explicit mutual information constraint. Secondly, a Vision-Language Model is utilized to generate multi-view hierarchical descriptions across six semantic aspects, providing fine-grained textual guidance. Thirdly, a frequency-guided structure loss is introduced to strengthen the model's sensitivity to high-frequency elements, improving foreground structural fidelity. Extensive experiments demonstrate that our DrivePTS achieves state-of-the-art fidelity and controllability in generating diverse driving scenes. Notably, DrivePTS successfully generates rare scenes where prior methods fail, highlighting its strong generalization ability.

While iterative stereo matching achieves high accuracy, its dependence on Recurrent Neural Networks (RNN) hinders edge deployment, a challenge underexplored in existing researches. We analyze iterative refinement and reveal that disparity updates are spatially sparse and temporally redundant. First, we introduce a progressive iteration pruning strategy that suppresses redundant update steps, effectively collapsing the recursive computation into a near-single-pass inference. Second, we propose a collaborative monocular prior transfer framework that implicitly embeds depth priors without requiring a dedicated monocular encoder, thereby eliminating its associated computational burden. Third, we develop FlashGRU, a hardware-aware RNN operator leveraging structured sparsity and I/O-conscious design, achieving a 7.28$\times$ speedup, 76.6\% memory peak reduction and 80.9\% global memory requests reduction over natvie ConvGRUs under 2K resolution. Our PipStereo enables real-time, high-fidelity stereo matching on edge hardware: it processes 320$\times$640 frames in just 75ms on an NVIDIA Jetson Orin NX (FP16) and 19ms on RTX 4090, matching the accuracy of large iterative based models, and our generalization ability and accuracy far exceeds that of existing real-time methods. Our embedded AI projects will be updated at: https://github.com/XPENG-Aridge-AI.

As text generation has become a core capability of modern Large Language Models (LLMs), it underpins a wide range of downstream applications. However, most existing LLMs rely on autoregressive (AR) generation, producing one token at a time based on previously generated context-resulting in limited generation speed due to the inherently sequential nature of the process. To address this challenge, an increasing number of researchers have begun exploring parallel text generation-a broad class of techniques aimed at breaking the token-by-token generation bottleneck and improving inference efficiency. Despite growing interest, there remains a lack of comprehensive analysis on what specific techniques constitute parallel text generation and how they improve inference performance. To bridge this gap, we present a systematic survey of parallel text generation methods. We categorize existing approaches into AR-based and Non-AR-based paradigms, and provide a detailed examination of the core techniques within each category. Following this taxonomy, we assess their theoretical trade-offs in terms of speed, quality, and efficiency, and examine their potential for combination and comparison with alternative acceleration strategies. Finally, based on our findings, we highlight recent advancements, identify open challenges, and outline promising directions for future research in parallel text generation. We have also created a GitHub repository for indexing relevant papers and open resources available at https://github.com/zhanglingzhe0820/Awesome-Parallel-Text-Generation.

Multi-agent credit assignment is a fundamental challenge for cooperative multi-agent reinforcement learning (MARL), where a team of agents learn from shared reward signals. The Individual-Global-Max (IGM) condition is a widely used principle for multi-agent credit assignment, requiring that the joint action determined by individual Q-functions maximizes the global Q-value. Meanwhile, the principle of maximum entropy has been leveraged to enhance exploration in MARL. However, we identify a critical limitation in existing maximum entropy MARL methods: a misalignment arises between local policies and the joint policy that maximizes the global Q-value, leading to violations of the IGM condition. To address this misalignment, we propose an order-preserving transformation. Building on it, we introduce ME-IGM, a novel maximum entropy MARL algorithm compatible with any credit assignment mechanism that satisfies the IGM condition while enjoying the benefits of maximum entropy exploration. We empirically evaluate two variants of ME-IGM: ME-QMIX and ME-QPLEX, in non-monotonic matrix games, and demonstrate their state-of-the-art performance across 17 scenarios in SMAC-v2 and Overcooked.

Achieving reliable and efficient planning in complex driving environments requires a model that can reason over the scene's geometry, appearance, and dynamics. We present UniDWM, a unified driving world model that advances autonomous driving through multifaceted representation learning. UniDWM constructs a structure- and dynamic-aware latent world representation that serves as a physically grounded state space, enabling consistent reasoning across perception, prediction, and planning. Specifically, a joint reconstruction pathway learns to recover the scene's structure, including geometry and visual texture, while a collaborative generation framework leverages a conditional diffusion transformer to forecast future world evolution within the latent space. Furthermore, we show that our UniDWM can be deemed as a variation of VAE, which provides theoretical guidance for the multifaceted representation learning. Extensive experiments demonstrate the effectiveness of UniDWM in trajectory planning, 4D reconstruction and generation, highlighting the potential of multifaceted world representations as a foundation for unified driving intelligence. The code will be publicly available at https://github.com/Say2L/UniDWM.

Autonomous driving increasingly relies on Visual Question Answering (VQA) to enable vehicles to understand complex surroundings by analyzing visual inputs and textual queries. Currently, a paramount concern for VQA in this domain is the stringent requirement for fast latency and real-time processing, as delays directly impact real-world safety in this safety-critical application. However, current state-of-the-art VQA models, particularly large vision-language models (VLMs), often prioritize performance over computational efficiency. These models typically process dense patch tokens for every frame, leading to prohibitive computational costs (FLOPs) and significant inference latency, especially with long video sequences. This focus limits their practical deployment in real-time autonomous driving scenarios. To tackle this issue, we propose an efficient VLM framework for autonomous driving VQA tasks, SRC-Pipeline. It learns to compress early frame tokens into a small number of high-level tokens while retaining full patch tokens for recent frames. Experiments on autonomous driving video question answering tasks show that our approach achieves 66% FLOPs reduction while maintaining comparable performance, enabling VLMs to operate more effectively in real-time, safety-critical autonomous driving settings.

In autonomous driving, end-to-end planners learn scene representations from raw sensor data and utilize them to generate a motion plan or control actions. However, exclusive reliance on the current scene for motion planning may result in suboptimal responses in highly dynamic traffic environments where ego actions further alter the future scene. To model the evolution of future scenes, we leverage the World Model to represent how the ego vehicle and its environment interact and change over time, which entails complex reasoning. The Chain of Thought (CoT) offers a promising solution by forecasting a sequence of future thoughts that subsequently guide trajectory refinement. In this paper, we propose FutureX, a CoT-driven pipeline that enhances end-to-end planners to perform complex motion planning via future scene latent reasoning and trajectory refinement. Specifically, the Auto-think Switch examines the current scene and decides whether additional reasoning is required to yield a higher-quality motion plan. Once FutureX enters the Thinking mode, the Latent World Model conducts a CoT-guided rollout to predict future scene representation, enabling the Summarizer Module to further refine the motion plan. Otherwise, FutureX operates in an Instant mode to generate motion plans in a forward pass for relatively simple scenes. Extensive experiments demonstrate that FutureX enhances existing methods by producing more rational motion plans and fewer collisions without compromising efficiency, thereby achieving substantial overall performance gains, e.g., 6.2 PDMS improvement for TransFuser on NAVSIM. Code will be released.

Realistic and controllable simulation is critical for advancing end-to-end autonomous driving, yet existing approaches often struggle to support novel view synthesis under large viewpoint changes or to ensure geometric consistency. We introduce HybridWorldSim, a hybrid simulation framework that integrates multi-traversal neural reconstruction for static backgrounds with generative modeling for dynamic agents. This unified design addresses key limitations of previous methods, enabling the creation of diverse and high-fidelity driving scenarios with reliable visual and spatial consistency. To facilitate robust benchmarking, we further release a new multi-traversal dataset MIRROR that captures a wide range of routes and environmental conditions across different cities. Extensive experiments demonstrate that HybridWorldSim surpasses previous state-of-the-art methods, providing a practical and scalable solution for high-fidelity simulation and a valuable resource for research and development in autonomous driving.

We introduce a novel system for human-to-robot trajectory transfer that enables robots to manipulate objects by learning from human demonstration videos. The system consists of four modules. The first module is a data collection module that is designed to collect human demonstration videos from the point of view of a robot using an AR headset. The second module is a video understanding module that detects objects and extracts 3D human-hand trajectories from demonstration videos. The third module transfers a human-hand trajectory into a reference trajectory of a robot end-effector in 3D space. The last module utilizes a trajectory optimization algorithm to solve a trajectory in the robot configuration space that can follow the end-effector trajectory transferred from the human demonstration. Consequently, these modules enable a robot to watch a human demonstration video once and then repeat the same mobile manipulation task in different environments, even when objects are placed differently from the demonstrations. Experiments of different manipulation tasks are conducted on a mobile manipulator to verify the effectiveness of our system

While generalist foundation models like Gemini and GPT-4o demonstrate impressive multi-modal competence, existing evaluations fail to test their intelligence in dynamic, interactive worlds. Static benchmarks lack agency, while interactive benchmarks suffer from a severe modal bottleneck, typically ignoring crucial auditory and temporal cues. To bridge this evaluation chasm, we introduce OmniPlay, a diagnostic benchmark designed not just to evaluate, but to probe the fusion and reasoning capabilities of agentic models across the full sensory spectrum. Built on a core philosophy of modality interdependence, OmniPlay comprises a suite of five game environments that systematically create scenarios of both synergy and conflict, forcing agents to perform genuine cross-modal reasoning. Our comprehensive evaluation of six leading omni-modal models reveals a critical dichotomy: they exhibit superhuman performance on high-fidelity memory tasks but suffer from systemic failures in challenges requiring robust reasoning and strategic planning. We demonstrate that this fragility stems from brittle fusion mechanisms, which lead to catastrophic performance degradation under modality conflict and uncover a counter-intuitive "less is more" paradox, where removing sensory information can paradoxically improve performance. Our findings suggest that the path toward robust AGI requires a research focus beyond scaling to explicitly address synergistic fusion. Our platform is available for anonymous review at https://github.com/fuqingbie/omni-game-benchmark.